Design and research of aviation universal ground handling robot based on machine vision and motion control

Abstract

To address efficiency bottlenecks and potential safety hazards caused by the traditional “one aircraft with multiple dedicated vehicles, one post for one operator” mode in aircraft flight test support, aviation ground support systems urgently demand universal and intelligent upgrading. This paper proposes an aviation universal ground handling robot based on machine vision and high-precision motion control. A modular “universal chassis + task module” architecture is constructed, with in-depth design of multi-sensor fusion perception, LiDAR-vision combined positioning, impedance control-based flexible docking, and autonomous motion planning. The complete workflow of pre-flight liquid cooling filling is elaborated to verify system feasibility. Theoretical analysis and test verification show that the proposed platform realizes centimeter-level precise docking and autonomous intelligent operation, which significantly improves support efficiency, reduces equipment investment and labor costs, and effectively eliminates human-induced safety risks. It provides key equipment support for smart airports and advanced flight test bases, with important engineering application and strategic value.